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(11) | EP 0 535 780 B1 |
| (12) | EUROPEAN PATENT SPECIFICATION |
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A compact, flexible, and integrated millimeter wave radar sensor Kompakter, flexibler und integrierter Millimeterwellenradarsensor Capteur radar à ondes millimétriques, intégré compact et à multiusage |
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| Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention). |
BACKGROUND OF THE INVENTION
1. Technical Field:
[0001] This invention relates to radar sensors and, more particularly, to a compact, flexible, and integrated millimeter wave radar sensor.
2. Discussion:
[0002] Radar sensors are generally employed for detecting objects within a desired field. Typical sensing systems have been developed which employ radar, laser, infrared (IR), or ultrasonic principles. However, each of these systems has its drawbacks. Current radar sensors operate at frequencies which are too low to incorporate the advanced monolithic millimeter wave integrated circuit (MMIC) and compact patch antenna technology. Generally, these sensing units are bulky and difficult to integrate into a host system. In addition, current radar sensing units require a large number of components which make the units costly. As a result, these systems are limited in modularity and flexibility, and therefore, applications. Typical Laser sensors generally suffer from high cost, in addition to potential health hazards. Furthermore, they are limited by environmental conditions such as fog and smoke. Infrared and ultrasonic sensors have limitations which include sensitivity to environmental interferences, as well as interference from other similar sources, in addition to noise.
[0003] There is a need for an effective compact, flexible and integrated radar sensor that can be easily integrated into many systems for various applications. In particular, there exists a need for a compact, low cost, flexible radar sensor for automotive and space and defense-related applications and the like. Such applications may include integrating such a radar sensor onto an automotive vehicle to provide a blind spot detector for crash avoidance purposes. For advanced vehicle designs, such as those involving four-wheel drive functions, there is a need for a smart sensor to determine the true ground speed of the vehicle for cruise control purposes, accurate vehicle speed measurement, and four-wheel steering. In addition, there exists a need for a smart sensor to determine the vehicle height and to project the road surface ahead for advanced adaptive suspension systems. Furthermore, for military applications, there exists a need for a compact, modular, low cost sensor for collision avoidance of armored vehicles, heavy robotic equipment and all types of transportation equipment during night operations and under adverse conditions such as fog and battle field smoke.
[0004] Sensor systems have been developed and provided for such applications. Typical systems have generally employed radar, laser, infrared, and ultrasonic sensors. However, these systems have not been widely deployed because of high cost, poor performance, excessive size, and limited flexibility.
[0005] It is therefore desirable to obtain an effective, low cost, compact and safe to operate radar sensor. It is further desirable to obtain such a radar sensor which can be easily integrated into various systems. Such a system may include an automotive vehicle for providing a blind spot detector, a true ground speed measuring device, a vehicle height measurement device, and other various applications.
[0006] EP-A-0350095 discloses a radar system using FM having automatic gain control in which both beat frequency shift and amplitude shift in the returning signals are detected. The problem of providing a particularly compact system is not discussed in detail.
[0007] US-A-4931799 discloses a FET based monolithic integrated circuit for a radar system, including a microstrip transceiver. The circuit is designed to overcome certain inherent problems with the use of FETs in radar applications.
[0008] Monolithic millimetre wave integrated circuit (MMIC) technology was discussed generally in an IEEE Symposium on Microwave and Millimeter-wave Monolithic Circuits in June 1991.
[0009] The present invention provides compact highly integrated radar system for detecting objects within a desired field, said system comprising:
transceiver means including a transmitter for transmitting a frequency modulated (FM) carrier signal and a receiver for receiving reflected signals from a target, and
antenna means coupled to said transceiver means for transmitting said FM carrier signal and receiving said reflected signals within a desired field; said radar system characterized by:
said transmitter and said receiver forming part of a monolithic millimetre wave integrated circuit (MMIC) transceiver;
said MMIC transceiver means having a circuit including oscillation, amplification and signal mixing means, and integrated onto a single monolithic chip;
control loop means for controlling the dynamic range of said radar system; and,
processor means including a digital signal processor coupled to said transceiver means, said digital signal processor further including digital filtering means for differentiating valid signals from spurious signals, and threshold means for analysing received signals so as to detect the presence of objects within said field.
[0010] The various advantages of the present invention will become apparent to those skilled in the art by reading the following specification and by reference to the following drawings in which:
Figure 1 is a schematic block diagram which illustrates a compact millimetre wave radar sensor in accordance with the present invention;
Figure 2a is a block diagram which illustrates a monolithic millimeter wave integrated circuit (MMIC) transceiver;
Figure 2b is a block diagram which illustrates an alternate embodiment of a monolithic millimeter wave integrated circuit (MMIC) transceiver;
Figure 3 is a schematic diagram which illustrates a millimeter wave band microstrip patch antenna design example;
Figure 4 is a block diagram which illustrates the major functions of a digital signal processor in accordance with the present invention; and
Figures 5(a-d) are assembly views of a compact radar sensor module example.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
[0011] Turning now to Figure 1, a schematic block diagram is shown therein which illustrates a compact millimeter wave (MMW) radar sensor 10 in accordance with the present invention. Radar sensor 10 employs a monolithic millimeter wave integrated circuit (MMIC) transceiver 12. The transceiver 12 provides MMW transmit and receive functions which are integrated onto a single monolithic chip 13 using standard photolithographic techniques known in the art. Transceiver 12 includes a voltage controlled oscillator (VCO) 20 which is connected to an amplifier 22. Amplifier 22 is further connected to a coupler 25 which is connected to port A of a duplexer 24. A pre-amplifier 28 is connected to port B of duplexer 24 for amplifying a reflected signal received by antenna 14. A balanced mixer 26 is provided which has an input connected to the output of pre-amplifier 28. Balanced mixer 26 is further adapted to receive a leakage signal which is the result of the coupler 25 output of the transmitted signal generated by the voltage controlled oscillator 20 and the transmit amplifier 22. Balanced mixer 26 is adapted to provide the difference between the transmit signal and the reflected signal. The output of balanced mixer 26 is an intermediate frequency (IF) known as the beat frequency which contains the range information. In an alternate embodiment, duplexer 24 and coupler 25 may be removed and replaced with a simple coupler to allow for further cost savings and smaller size.
[0012] A microstrip patch antenna 14 is connected to port C of duplexer 24. The antenna 14 is adapted to transmit a high frequency modulated carrier signal throughout a desired field to be monitored. This transmitted signal may have a frequency of around 35 to 94 GHz. Higher frequency signal may also be employed. Antenna 14 is further adapted to receive a reflected signal which is the result of the transmitted signal reflecting off of objects located within the field.
[0013] An IF pre-amplifier 30 is connected to the output of the balanced mixer 26 for amplifying the IF output signal therefrom. Connected to the output of IF pre-amplifier 30 is an automatic gain control amplifier 32 which provides high dynamic range. An analog-to-digital converter 34 is connected to the output of the automatic gain control amplifier 32 for receiving a signal therefrom. The analog-to-digital converter 34 is further adapted to receive a clock signal from clock 37 of digital signal processor 16 and provide a digital output to the digital signal processor 16. Analog-to-digital converter 34 is a standard off-the-shelf 8-bit converter and is capable of handling IF signals and providing a dynamic range of about 48 dB. A digital-to-analog converter 36 is further connected to digital signal processor 16 for receiving an input signal therefrom. The digital-to-analog converter 36 is adapted to provide a gain control signal to the automatic gain control amplifier 32 which provides a dynamic range of about 50 dB. The automatic gain control amplifier 32 in combination with the analog-to-digital converter 34, the digital signal processor 16, and the digital-to-analog converter 36 make up a dynamic range adjustment control loop 35. Control loop 35 provides for the dynamic range required to process the variations in target reflections and the range of distance desired.
[0014] An FM modulator 40 is connected to digital signal processor 16 for receiving a square wave signal therefrom. FM modulator 40 is configured for providing a triangular modulation waveform signal at the same periodicity as the square waveform. The output of FM modulator 40 is connected to the input of the voltage controlled oscillator 20 of transceiver 12 for providing the frequency modulated signal thereto.
[0015] Digital signal processor 16 is further connected to an external interface 42. External interface 42 provides connection to an output display 44 and input terminals 46. Digital signal processor 16 is manufactured by AT&T and has a model number DSP16. Other suitable digital signal processors such as a Motorola 56001 and Texas Instruments TMS320C15 may also be used. Digital signal processor 16 performs all the necessary processing and embedded intelligence functions therein. Processor 16 includes processing capabilities for providing digital filtering, integrations and various other processing functions. In essence, digital signal processor 16 is adapted to provide control signals and detect any reflected signal from objects within the field being monitored and provide output responses therefrom. From the frequency shift and other information, the digital signal processor 16 provides the distance information.
[0016] A compact voltage regulator 47 provides the +5v dc supply from a 12v dc supply. Another compact voltage regulator 48 provides the +10v dc supply from the 12v dc supply. In a different embodiment, different voltage regulators may be used to provide the +5v and +10v dc from other voltage sources.
[0017] Figure 2a is a block diagram which illustrates one embodiment of the monolithic millimeter wave integrated circuit (MMIC) transceiver 12. Transceiver 12 includes a voltage-controlled oscillator (VCO) 20 adapted to receive the FM modulation signal from FM modulator 40 and provide a frequency modulated carrier signal therefrom. Voltage controlled oscillator 20 includes a single high electron mobility transistor (HEMT) and an associated tank circuit for providing the carrier signal. The voltage controlled oscillator 20 is modulated by applying a voltage to a varactor located in an oscillator tank circuit. Connected to the output of the voltage controlled oscillator 20 is a two-stage amplifier 22 having a first amplifier stage 21 and second amplifier stage 23. Amplifier 22 amplifies the signal which is then transmitted to the antenna 14 through the duplexer 24 and the coupler 25. The output of amplifier 22 is connected to port D of the coupler 25. The port E of the coupler 25 is connected to the port A of the duplexer 24. The transmit output to the antenna 14 is through port C of the duplexer 24. The combination of voltage controlled oscillator 20 in connection with the amplifier 22 forms a transmitter 50.
[0018] Transceiver 12 further includes a two-stage pre-amplifier Pre-amplifier 28 having a first stage 29 and second stage 27. 28 is adapted to receive and amplify the reflected signals gathered by the antenna 14. The balanced mixer 26 is connected to the output of the pre-amplifier 28. Together, balanced mixer 26 and the pre-amplifier 28 form the receiver 52. The duplexer 24 and the coupler 25 form a network for isolating the transmitter 50 from the receiver 52. The coupler provides the reference transmit signal path to the mixer 26 of the receiver 52 and the transmit path to duplexer 24 and antenna 14. The balanced mixer 26 provides the difference between the reference signal and the reflected signal to obtain an intermediate frequency (IF) known as the beat frequency. The resulting beat frequency contains the difference in frequency between the two signals.
[0019] In an alternate embodiment of the MMIC transceiver 12_ as shown in Figure 2b, the duplexer 24 and the coupler 25 of the original implementation as shown in Figure 2a are replaced with a simple coupler 31 to allow for further cost savings and smaller size of the MMIC transceiver. The voltage controlled oscillator 20 and the two-stage transmit amplifier 21 and 23 are basically the same as in the original transmitter except in chip layout. The two-stage amplifier 27 and 29, and the balanced mixer 26 are similar to the original embodiment, except in chip layout and in that the balanced mixer 26 is further adapted to receive a leakage transmit signal which is used as the reference signal. The leakage signal is the result of the signal generated by the voltage controlled oscillator 20 being transmitted across a leakage path 39 from amplifier 23 to amplifier 29 across the new coupler 31. This alternate embodiment of the MMIC transceiver advantageously utilizes this leakage signal while providing isolation between the transmitter 50 and the receiver 52.
[0020] Figure 3 illustrates a design example of a millimeter wave band microstrip patch antenna 14. A plurality of radiating/receiving microstrip patches 54 are provided in a 4 x 4 array. In alternate embodiments, a 4 x 2 and a 4 x 1 array may also be used. Microstrip patches 54 are connected by microstrip feed lines 56. The antenna 14 is adapted to be etched on a printed circuit board and may be adapted to provide for a plurality of such microstrip patches 54 in various array designs. The array design essentially determines the beam shape which may be adapted to provide for various coverage requirements for different applications. The resulting antenna 14 is small and planar, and has a patch pattern that can easily be changed to adapt to various applications and mounting requirements. For automotive applications, the planar antenna enables incorporation of the radar sensor in the tail light assembly, side mirror assembly, or rear bumper of a vehicle. The particular antenna design example shown therein provides for an overall size which is less than 1.5 inches by 1.5 inches. However, various shapes and sizes may be used, depending on the particular application.
[0021] Figure 4 is a block diagram which illustrates the major functions of the digital signal processor 16. The signal processing functions performed by the digital signal processor 16 include digital filtering and integration to remove clutter, reduce false alarms and to increase sensitivity. The embedded intelligence functions include decision logic, control, display, and annunciation control, and self testing. The digital signal processor 16 performs these functions in firmware to achieve the lowest possible recurring costs. The firmware may include software such as machine code fabricated in read-only memory (ROM). The digital signal processor 16 reads the digitized data from the analog-to-digital converter 34 and calculates the gain control that is to be applied to the automatic gain control amplifier 32.
[0022] In operation, the firmware of digital signal processor 16 reads in a complete sweep of the radar data and captures the data at a sampling rate of about 2.5 megahertz. The digital signal processor 16 calculates a fast Fourier transform (FFT). The total energy is estimated from the FFT calculation and used to calculate the gain control signal which is applied to automatic gain control amplifier 32. The transformed data is further divided into range bins in order to detect valid returns. Several sweeps are transformed and accumulated, resulting in a 6 dB processing gain in the signal-to-noise ratio of the received signal. The digital signal processor 16 then weighs the spectrum to reduce the effects of clutter. A threshold decision function is applied to the range bins to detect valid returns. These returns are then compared to several past decisions from previous sweeps. By comparing past returns, the digital signal processor 16 adapts the decision thresholds and clutter weighing functions as the environment changes in order to increase differentiation of valid returns and reject disturbances and spurious returns. The digital signal processor 16 furthermore determines the closest valid return. Finally a periodically updated display provides the decision.
[0023] Figure 5 illustrates the packaging design for a particular radar sensor example of this invention. A radar sensor module 60 is shown having a housing subassembly 62, a radome/cover 64 and an electronic subassembly having a support plate (not shown) and two printed circuit board assemblies 66 and 68. One of the printed circuit board assemblies 68 is laminated to the top of the support plate and has the patch antenna assembly etched thereon and the MMIC transceiver along with the preamplifier circuit. This assembly is connected by flexible jumper cable to the other multi-layer digital printed circuit board assembly 66 that is mounted to the rear portion of the support plate. This second printed circuit board assembly 66 has components mounted on both sides to minimize the module size. The radome/cover 64 is bonded over the top of the module 60 and provides impact protection as well as a moisture seal for the entire module 60. The invention discussed herein is not restricted to this particular module design, for different applications may require variations thereof.
transceiver means (12) including a transmitter for transmitting a frequency modulated (FM) carrier signal and a receiver for receiving reflected signals from a target, and
antenna means (14) coupled to said transceiver means (12) for transmitting said FM carrier signal and receiving said reflected signals within a desired field; said radar system characterized by:
said transmitter and said receiver forming part of a monolithic millimetre wave integrated circuit (MMIC) transceiver;
said MMIC transceiver means (12) having a circuit including oscillation, amplification and signal mixing means, and integrated onto a single monolithic chip (13);
control loop means (35) for controlling the dynamic range of said radar system;and
processor means including a digital signal processor (16) coupled to said transceiver means (12), said digital signal processor (16) further including digital filtering means for differentiating valid signals from spurious signals, and threshold means for analysing received signals so as to detect the presence of objects within said field.
an automatic gain control amplifier (32) being adapted to receive an analog gain control signal from said digital signal processor (1 6) and provide an output therefrom;
an analog-to-digital converter (34) adapted to digitize the output of said automatic gain control amplifier (32) and provide a digital signal to said digital signal processor (16); and,
a digital-to-analog converter (36) being adapted to receive a digital gain control signal from said digital signal processor (1 6) and provide said analog gain control signal.
a first amplifier (22) coupled to said voltage controlled oscillator (20) for amplifying said frequency modulated carrier signal, said voltage controlled oscillator (20) and said first amplifier (22) forming said transmitter for providing the amplified frequency modulated carrier signal to said antenna means (14).
a second amplifier (28) for receiving and amplifying the reflected signals received from said antenna means (14); and,
a balanced mixer (26) coupled to said second amplifier (28) for receiving a reference transmit signal representative of said FM carrier signal and mixing said reference transmit signal with the received reflected signals so as to provide the difference therebetween, said second amplifier (28) and said balanced mixer (26) forming said receiver.
a coupler (25) for providing coupling and isolation between said transmitter and said receiver and a transmit path to said antenna means (14).
a duplexer (24) coupled between said transmitter and said receiver for allowing said transmitted carrier signal to be transmitted from said transmitter to said antenna means (14), and further allowing said reflected signals to be transmitted from said antenna means (14) to said receiver, said duplexer (24) being further adapted to isolate said transmitter from said receiver, and wherein said reference transmit signal received by said balanced mixer (26) is a leakage signal provided along a leakage path from said transmitter.
eine Transceivereinrichtung (12), die einen Sender zum Senden eines frequenzmodulierten (FM) Trägersignals und einen Empfänger zum Empfangen reflektierter Signale von einem Ziel beinhaltet, und
eine an die Transceivereinrichtung (12) gekoppelte Antenneneinrichtung (14) zum Senden des FM-Trägersignals und zum Empfangen der reflektierten Signale innerhalb eines gewünschten Feldes; wobei das Radarsystem dadurch gekennzeichnet ist, daß:
der Sender und der Empfänger einen Teil eines monolithischen integrierten Millimeterwellenschaltungs-(MMIC-) Transceivers bilden;
die MMIC-Transceivereinrichtung (12) eine Schaltung aufweist, die Schwingungs-, Verstärkungs- und Signalmischeinrichtungen beinhaltet, und auf einen einzelnen monolithischen Chip (13) integriert ist;
eine Regelkreiseinrichtung (35) zum Steuern des Dynamikbereichs des Radarsystems; und
eine Prozessoreinrichtung, die einen an die Transceivereinrichtung (12) gekoppelten digitalen Signalprozessor (16) beinhaltet, wobei der digitale Signalprozessor (16) ferner eine digitale Filtereinrichtung zum Unterscheiden gültiger Signale von Fehlsignalen, und eine Schwelleneinrichtung zum Analysieren empfangener Signale, um so die Anwesenheit von Objekten innerhalb des Feldes zu ermitteln, enthält.
einen Verstärker (32) mit automatischer Verstärkungsregelung, der geeignet ist, ein analoges Verstärkungssteuersignal vom digitalen Signalprozessor (16) zu empfangen und eine Ausgabe daraus zu liefern;
einen Analog-Digital-Wandler (34), der geeignet ist, die Ausgabe des Verstärkers (32) mit automatischer Verstärkungsregelung zu digitalisieren und dem digitalen Signalprozessor (16) ein digitales Signal bereitzustellen; und
einen Digital-Analog-Wandler (36), der geeignet ist, ein digitales Verstärkungssteuersignal vom digitalen Signalprozessor (16) zu empfangen und das analoge Verstärkungssteuersignal bereitzustellen.
einen spannungsgesteuerten Oszillator (20), der geeignet ist, ein Wellenform-Modulationssignal zu empfangen und das frequenzmodulierte Trägersignal zu erzeugen; und
einen an den spannungsgesteuerten Oszillator (20) gekoppelten ersten Verstärker (22) zum Verstärken des frequenzmodulierten Trägersignals, wobei der spannungsgesteuerte Oszillator (20) und der erste Verstärker (22) den Sender zum Liefern des verstärkten frequenzmodulierten Trägersignals an die Antenneneinrichtung (14) bilden.
einen zweiten Verstärker (28) zum Empfangen und Verstärken der von der Antenneneinrichtung (14) empfangenen reflektierten Signale; und
einen an den zweiten Verstärker (28) gekoppelten abgeglichenen Mischer (26) zum Empfangen eines Referenz-Sendesignals, das für das FM-Trägersignal repräsentativ ist, und zum Mischen des Referenz-Sendesignals mit den empfangenen reflektierten Signalen, um so den Unterschied zwischen diesen zu liefern, wobei der zweite Verstärker (28) und der abgeglichene Mischer (26) den Empfänger bilden.
einen Koppler (25) zum Bereitstellen von Kopplung und Isolierung zwischen dem Sender und dem Empfänger und eines Sendepfads zur Antenneneinrichtung (14).
einen zwischen den Sender und den Empfänger gekoppelten Duplexer (24), um zu ermöglichen, daß das gesendete Trägersignal vom Sender zur Antenneneinrichtung (14) übertragen wird, und um ferner zu erlauben, daß die reflektierten Signale von der Antenneneinrichtung (14) zum Empfänger übertragen werden, wobei der Duplexer (24) ferner geeignet ist, den Sender vom Empfänger zu isolieren, und worin das durch den abgeglichenen Mischer (26) empfangene Referenz-Sendesignal ein entlang einem Leckpfad vom Sender geliefertes Lecksignal ist.
une structure d'émetteur-récepteur (12) comprenant un émetteur destiné à émettre un signal porteur modulé en fréquence (FM) et un récepteur destiné à recevoir des signaux réfléchis provenant d'une cible, et
une structure d'antenne (14) connectée à la structure d'émetteur-récepteur (12) pour émettre le signal porteur FM et pour recevoir les signaux réfléchis dans un champ désiré; ce système de radar étant caractérisé par
le fait que l'émetteur et le récepteur appartiennent à un émetteur-récepteur à circuit intégré monolithique à ondes millimétriques (MMIC);
le fait que la structure d'émetteur-récepteur MMIC (12) comporte un circuit qui comprend des moyens d'oscillation, d'amplification et de mélange de signaux, et qui est intégré sur une seule puce monolithique (13);
une structure de boucle de commande (35) pour commander la dynamique du système de radar; et
une structure de processeur, comprenant un processeur de signal numérique (16) connecté à la structure d'émetteur-récepteur (12), le processeur de signal numérique (16) comprenant en outre des moyens de filtrage numériques pour différencier les signaux valides vis-à-vis de signaux parasites, et des moyens à seuil pour analyser des signaux reçus, de façon à détecter la présence d'objets à l'intérieur du champ.
un amplificateur à commande automatique de gain (32) qui est adapté pour recevoir un signal analogique de commande de gain provenant du processeur de signal numérique (16), et à fournir un signal en sortie;
un convertisseur analogique-numérique (34) qui est adapté pour numériser le signal de sortie de l'amplificateur à commande automatique de gain (32) et pour appliquer un signal numérique au processeur de signal numérique (16); et
un convertisseur numérique-analogique (36) qui est adapté pour recevoir un signal numérique de commande de gain provenant du processeur de signal numérique (16) et pour fournir le signal analogique de commande de gain.
un premier amplificateur (22) connecté à l'oscillateur commandé par tension (20) pour amplifier le signal porteur modulé en fréquence, l'oscillateur commandé par tension (20) et le premier amplificateur (22) formant l'émetteur pour appliquer à la structure d'antenne (14) le signal porteur modulé en fréquence et amplifié.
un second amplificateur (28) pour recevoir et amplifier les signaux réfléchis qui sont reçus à partir de la structure d'antenne (14); et
un mélangeur équilibré (26) connecté au second amplificateur (28), pour recevoir un signal d'émission de référence représentatif du signal porteur FM, et pour mélanger ce signal d'émission de référence avec les signaux réfléchis reçus, de façon à fournir la différence entre eux, le second amplificateur (28) et le mélangeur équilibré (26) formant le récepteur.
un coupleur (25) pour assurer le couplage et l'isolation entre l'émetteur et le récepteur et une voie d'émission dirigée vers la structure d'antenne (14).
un duplexeur (24) connecté entre l'émetteur et le récepteur pour que le signal porteur émis puisse être transmis de l'émetteur à la structure d'antenne (14), et pour que les signaux réfléchis puissent être transmis de la structure d'antenne (14) vers le récepteur, ce duplexeur (24) étant en outre adapté pour isoler l'émetteur du récepteur, et dans lequel le signal d'émission de référence qui est reçu par le mélangeur équilibré (26) est un signal de fuite qui apparaît dans un chemin de fuite provenant de l'émetteur.